A rowing machine based on a linear motor and a control method thereof

Abstract

An embodiment of the present invention discloses a rowing machine based on a linear motor and a control method thereof, wherein the rowing machine includes: a touch interaction device for realizing human-computer interaction, setting different motion control modes, and setting corresponding setting data in different modes and viewing monitoring data generated when the rowing machine is working; a rowing machine main control module for: setting corresponding associated setting data and monitoring data in different modes according to the set motion control mode to implement different control strategies; generating corresponding current instructions according to the control strategy; a drive control module for controlling the coil of the linear motor based on the current instruction, generating currents of different sizes, and realizing driving of the linear motor; the effect is: realizing comprehensive control of position, speed, and force, and the force values ​​corresponding to the position and speed can be set, while improving the sense of exercise experience, more complex exercise requirements can be achieved compared to traditional rowing machines.

Description

Technical Field

[0001] The present invention relates to the technical field of equipment control, and in particular to a rowing machine based on a linear motor and a control method thereof. Background Art

[0002] A rowing machine is a piece of aerobic exercise equipment that simulates the motion of rowing, building endurance, strength, and coordination. Users sit in a chair, hold the oars with both hands, and row to simulate the motion of rowing. The machine also records the athlete's distance and time.

[0003] Currently, there are mainly the following types of rowing machines: wind resistance rowing machine, water resistance rowing machine and magnetic resistance rowing machine.

[0004] Air-resistance rowing machines have a bellows at the front end, which regulates the amount of resistance by adjusting the airflow to the flywheel via a spiral damper. The amount of resistance is also affected by the athlete's speed. Air-resistance rowing machines offer a high intensity workout, and professional rowers often use them for daily training. However, they also take up a lot of space and, due to their resistance mechanism, generate a lot of noise.

[0005] Water-resistance rowing machines are typically made of solid wood. They feature a water tank at the front of the machine, housing paddles. The resistance is adjusted by adjusting the contact area between the paddles and the water. Water-resistance rowing machines offer less resistance than air-resistance rowing machines. Because they are often made of solid wood, they often appear more aesthetically pleasing than air-resistance rowing machines. However, water-resistance rowing machines have some drawbacks: 1. Inflexible resistance adjustment: The resistance of a water-resistance rowing machine is adjusted by the amount of water in the tank, a process that is relatively cumbersome and lacks the flexibility of air-resistance or magnetic-resistance rowing machines. 2. Water tank maintenance: The water tank of a water-resistance rowing machine requires regular cleaning and maintenance to ensure clean water and proper operation. 3. Noise and vibration: Because water-resistance rowing machines utilize water resistance, they produce some noise and vibration during operation, which may impact the user experience.

[0006] Magnetic resistance rowing machines utilize a relatively simple resistance mechanism, using magnets to create resistance against the magnetic force of a flywheel. These machines are generally small, take up little space, and are the quietest of these rowing machines. However, their maximum resistance is limited, resulting in a low intensity workout. While the resistance is adjustable, the difference between each setting is not significant, resulting in a poor workout experience and making it difficult to achieve complex workout needs. Summary of the Invention

[0007] In view of the technical deficiencies mentioned in the background art, an object of the embodiments of the present invention is to provide a rowing machine based on a linear motor and a control method thereof.

[0008] In a first aspect, a rowing machine based on a linear motor comprises:

[0009] A touch-sensitive interactive device for human-machine interaction. Through this device, the user can set different motion control modes, set corresponding setting data for different modes, and view monitoring data generated by the rowing machine during operation; the monitoring data includes current position feedback and speed feedback;

[0010] Rowing machine main control module, used for:

[0011] The overall motion control of the rowing machine is implemented by setting different control strategies based on the corresponding setting data and monitoring data in different modes according to the set motion control mode, thereby realizing the motion control of the rowing machine;

[0012] generating a corresponding current instruction according to the control strategy;

[0013] The drive control module is used to control the coil of the linear motor based on the current instruction, generate currents of different magnitudes, and realize driving of the linear motor.

[0014] Preferably, the drive control module is further configured to:

[0015] The feedback data of the position encoder on the linear motor is received, and the current thrust value and power are calculated in real time in combination with the encoder feedback and current data, so as to know the current motion state of the athlete.

[0016] Preferably, the motion control mode includes a constant force control mode, a force-displacement mixed control mode and a force-speed mixed control mode;

[0017] The setting data associated with the constant force control mode is the constant force value;

[0018] The setting data associated with the force-displacement hybrid control mode is a freely set force-position curve;

[0019] The setting data associated with the force-speed hybrid control mode is a freely set force-speed curve.

[0020] Preferably, in the constant force control mode, the control strategy is:

[0021] generating a speed command based on a deviation between a position command and a position feedback; wherein the position command is preset;

[0022] Limiting the output of the speed value generated corresponding to the speed command, and generating a current command according to the deviation between the speed command and the speed feedback;

[0023] The current value generated corresponding to the current instruction is limited and output, and the current applied to the DC motor coil is controlled based on the output value.

[0024] Preferably, in the force-displacement hybrid control mode, the control strategy is:

[0025] According to the force-position curve, a small number of discrete points are interpolated by parabola to obtain relatively dense first data point information;

[0026] Linear interpolation is performed based on the current position feedback and the obtained first dense point data, and the force value obtained by interpolation is set as the first thrust limit value, thereby achieving real-time control of the force-displacement curve and simulating different rowing effects.

[0027] Preferably, in the force-speed hybrid control mode, the control strategy is:

[0028] According to the force-velocity curve, a small number of set discrete points are interpolated by parabola to obtain relatively dense second data point information;

[0029] Linear interpolation is performed based on the current speed feedback and the obtained second dense point data, and the force value obtained by interpolation is set as the second thrust limit value, thereby achieving real-time control of the force-speed curve and rowing action simulation.

[0030] In a second aspect, a control method for a rowing machine based on a linear motor is applied to the rowing machine based on a linear motor described in the first aspect, the method comprising:

[0031] Set different motion control modes, set corresponding setting data in different modes and view monitoring data generated when the rowing machine is working; the monitoring data includes current position feedback and speed feedback;

[0032] According to the set motion control mode, different control strategies are implemented by setting the corresponding setting data and monitoring data in different modes to realize the motion control of the rowing machine;

[0033] generating a corresponding current instruction according to the control strategy;

[0034] Based on the current instruction, the coil of the linear motor is controlled to generate currents of different magnitudes to drive the linear motor.

[0035] By implementing the embodiments of the present invention, the rowing machine is motion-controlled based on the monitoring data generated by the rowing machine during operation, different motion control modes are set, and corresponding setting data in different modes are set, thereby achieving comprehensive control of position, speed, and force, and the force values ​​corresponding to the position and speed can be set. While improving the exercise experience, more complex exercise requirements can be met compared to traditional rowing machines. BRIEF DESCRIPTION OF THE DRAWINGS

[0036] To more clearly illustrate the specific embodiments of the present invention or the technical solutions in the prior art, the following briefly describes the drawings required for the specific embodiments or the description of the prior art. Similar elements or parts are generally identified by similar reference numerals throughout the drawings. Elements or parts in the drawings are not necessarily drawn to scale.

[0037] Figure 1 A block diagram of a linear motor-based rowing machine according to an embodiment of the present invention;

[0038] Figure 2 A schematic structural diagram of a rowing machine based on a linear motor provided in an embodiment of the present invention;

[0039] Figure 3 A schematic diagram of the principle of a constant force control mode provided by an embodiment of the present invention;

[0040] Figure 4 A schematic diagram of a force-position curve provided by an embodiment of the present invention;

[0041] Figure 5 This is a flow chart of a control method for a rowing machine based on a linear motor provided by an embodiment of the present invention. DETAILED DESCRIPTION

[0042] The following will clearly and completely describe the technical solutions in the embodiments of the present invention in conjunction with the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of them. All other embodiments obtained by ordinary technicians in this field based on the embodiments of the present invention without making any creative efforts shall fall within the scope of protection of the present invention.

[0043] It should be noted that, unless otherwise specified, the technical or scientific terms used in this application should have the common meanings understood by those skilled in the art to which the present invention belongs.

[0044] like Figure 1 As shown, a rowing machine based on a linear motor comprises:

[0045] A touch interaction device is used to achieve human-computer interaction. Through this device, the user can set different motion control modes, set the corresponding setting data in different modes, and view the monitoring data generated when the rowing machine is working; the monitoring data includes current position feedback and speed feedback; in this embodiment, the touch interaction device uses a touch screen.

[0046] Rowing machine main control module, used for:

[0047] The overall motion control of the rowing machine is implemented by setting different control strategies based on the corresponding setting data and monitoring data in different modes according to the set motion control mode, thereby realizing the motion control of the rowing machine;

[0048] A corresponding current instruction is generated according to the control strategy.

[0049] The drive control module is used to control the coil of the linear motor based on the current instruction to generate currents of different magnitudes to drive the linear motor.

[0050] Reference Figure 1 As shown, the rowing machine main control module and the drive control module can be integrated on a control board, and the drive control module acts on the linear motor, which then drives the corresponding mechanical body.

[0051] This application utilizes a linear motor to generate reverse resistance, serving as the resistance source for the rowing machine, thereby achieving the desired rowing exercise effect. A linear motor is an electric motor whose rotor and stator are arranged in a straight line, unlike traditional rotary motors. This type of motor offers advantages such as high efficiency, high precision, low noise, and low vibration. The key features of a rowing machine based on a linear motor include the following:

[0052] High efficiency: Linear motors are highly efficient and can convert electrical energy into mechanical energy with an efficiency of over 90%, making them more energy-efficient than traditional rotary motors.

[0053] High precision: The linear motor's motion trajectory is very precise, which can achieve high-precision control, making the rowing machine's movement more stable and accurate, and can simulate the force trajectory during the rowing action with high precision;

[0054] Low noise and low vibration: There is no contact between the rotor and stator of the linear motor, so the noise and vibration during movement are very small, which can improve the comfort of using the rowing machine;

[0055] Programmable control: Linear motor-based rowing machines can be programmed to achieve a variety of different exercise modes and can be customized according to user needs;

[0056] High-precision statistics: Since the linear motor contains a high-precision encoder, it can monitor the position, tension and speed at each moment in real time. It can statistically analyze data such as tension, power, calories consumed, etc., and can also judge whether the user's rowing action is standard.

[0057] Reference Figure 2 The structure of the entire rowing machine includes a base 1, a column 6, a seat 12, a footrest 7, a first pulley 5, a second pulley 8, a pull rod 11, a pull rope 10, and a linear motor; wherein the linear motor includes a motor stator 2, a motor mover 3, and a guide rail 14; an interactive device 9 is installed at the upper end of the column 6; and a processing device is installed inside the housing of the interactive device 9, which can adopt an integrated control motherboard.

[0058] In order to slide the mover 3 of the linear motor and the seat cushion 12 on the guide rail 14, a first slider 4 and a second slider 13 are also included. The first slider 4 is installed on the mover 3 of the linear motor and slides with the guide rail 14. The second slider 13 is installed at the bottom of the seat cushion 12 and slides with the guide rail 14.

[0059] During use, the user sits on the seat cushion 12, steps on the footrests 7, holds the two ends of the pull rod 11 with both hands, turns on the linear motor so that the linear motor generates resistance in the direction away from the first pulley 5, and the user pulls the pull rod 11 with both hands so that the pull rope 10 pulls the mover 3 of the linear motor to overcome the resistance of the linear motor and slide toward the first pulley 5, thereby achieving the rowing machine exercise effect.

[0060] When in use, the height of the first pulley 5 is higher than the first slider 4, which can amplify the motor output. According to the principle of force synthesis, if the height of the first pulley 5 is higher than the first slider 4, the pull rope and the horizontal line form an angle α, and the tension F = Fd / Cos(α). Of course, the value of α will change with the position of the slider. The larger the angle α, the greater the tension on the rope generated by the same motor power, but the stroke of the entire movement becomes smaller.

[0061] During implementation, the linear motor is equipped with a detection device, including a position sensor for obtaining position feedback of the linear motor; and a high-precision encoder for real-time monitoring of the tension and speed feedback at each moment.

[0062] Furthermore, the drive control module is also used to:

[0063] The feedback data of the position encoder on the linear motor is received, and the current thrust value and power are calculated in real time in combination with the encoder feedback and current data, so as to know the current motion state of the athlete.

[0064] In addition, you can view exercise monitoring data through the touch interactive device, including: calories consumed during exercise, current location, speed, tension, etc.

[0065] In this embodiment, the motion control mode includes a constant force control mode, a force-displacement mixed control mode, and a force-velocity mixed control mode;

[0066] The setting data associated with the constant force control mode is the constant force value;

[0067] The setting data associated with the force-displacement hybrid control mode is a freely set force-position curve, that is, the force values ​​corresponding to different set position points;

[0068] The setting data associated with the force-speed hybrid control mode is a freely set force-speed curve, that is, the force values ​​corresponding to different set speeds.

[0069] Reference Figure 3 , the constant force control algorithm of this patent is collaboratively controlled by the position controller module, speed limiting module, speed controller module, current limiting module and current controller module integrated in the rowing machine main control module;

[0070] In the constant force control mode, the control strategy is:

[0071] Generate a speed command based on the deviation between the position command and the position feedback; wherein the position command is pre-set and can be understood as the corresponding zero position;

[0072] That is, the position controller module generates a speed command by detecting the deviation ep(k) generated between the position command and the position feedback.

[0073] ep(k)=Pref(k)-Pfed(k)

[0074] V(k)=Kpp*ep(k)

[0075] Wherein, V(k) represents the speed command, Pref(k) represents the position command, Pfed(k) represents the position feedback, and Kpp represents the coefficient.

[0076] Limiting the output of the speed value generated corresponding to the speed command, and generating a current command according to the deviation between the speed command and the speed feedback;

[0077] That is, the speed limit module limits the speed command generated by the position controller, and here only limits its maximum and minimum values.

[0078]

[0079] The speed controller generates a current command based on the speed error. The speed error refers to the error between the speed command and the speed feedback value. The speed command is given by the speed limit module, and the speed feedback value is obtained by differentiating the position feedback.

[0080] The current value generated corresponding to the current instruction is limited and output, and the current applied to the linear motor coil is controlled based on the output value; the limited output here limits the maximum and minimum values ​​of the current through the current limiting module.

[0081] It should be noted that the current controller (using field-oriented control) consists of two PI controllers plus coordinate transformation and SVPWM (space vector PWM) modules. This module is a public technology for motor control and will not be described in detail here. Its function is to control the current applied to the motor coil through pulse width modulation technology, so that the actual current value in the motor coil can quickly follow the given current command value.

[0082] The entire working process of the constant force control mode is as follows: After the power-on is completed, the motor is at zero position. If it enters the constant force mode, Figure 3 The position command in is fixed to 0. At this time, the motor is in a closed-loop position control state. The motor slider will stop at the zero position specified by the position command under the control of the PID controller. When the user pulls the motor slider through the pull rod and rope, the position of the motor slider is offset due to being pulled, and the position error is not 0. The position error outputs a current command under the control of the PID controller. If the current command exceeds the set maximum current, the current command is limited to the set maximum value through the current command limiter. At this time, the constant force state is entered. No matter how large the deviation displacement is, the output force remains unchanged. When the user releases the pull rod or unloads the force, the speed limit module will also limit the maximum speed value. At this time, the movable slider returns to its original position at the set maximum speed to ensure the safety of the equipment.

[0083] Furthermore, in the force-displacement hybrid control mode, the control strategy is:

[0084] According to the force-position curve, a small number of discrete points are subjected to parabolic interpolation to obtain relatively dense first data point information; that is, after performing parabolic interpolation on the set small number of discrete points, dense data points that are larger than the small number of discrete points are obtained, and the dense data points are used as the first data point information; the discrete points here are set force-position points, and different force values ​​are set for different positions;

[0085] Linear interpolation is performed based on the current position feedback and the obtained first dense point data, and the force value obtained by interpolation is set as the first thrust limit value, thereby achieving real-time control of the force-displacement curve and simulating different rowing effects.

[0086] Specifically, force-displacement hybrid control applies varying forces based on position throughout the entire movement process. The force-position curve can be freely configured, allowing for the simulation of various rowing effects. To achieve this, force-displacement hybrid control requires, in addition to the aforementioned constant force control, varying the current applied to the motor as the position changes. Figure 4 A force-displacement curve is shown. By real-time control of the motor, the force-displacement curve can be modified according to user needs.

[0087] The force-displacement curve editing function is integrated into the touch screen. In the operation interface, the entire working stroke is divided into n position points. The user only needs to enter the force values ​​corresponding to these n different position points according to the prompts. After completion, the controller in the processing device will automatically interpolate the force-displacement curve of the entire stroke based on the n force values.

[0088] The change of the entire force curve is also achieved by the current limiting module. Figure 3 The current limit module in the system no longer simply limits the maximum and minimum values, but needs to automatically calculate the current current limit value based on different positions and a pre-set force-displacement curve table.

[0089] Generally, the number of force-displacement values ​​set on a touch screen cannot be too large, otherwise the design will be overly complex. Therefore, data interpolation is required. If a linear interpolation algorithm is used, the transition between two points will not be natural due to the insufficient density of points, and noticeable jitter will be felt during movement. Using parabolic interpolation or Lagrange interpolation will result in a large amount of calculation. The current limit module requires real-time calculations, which cannot be performed overly complex operations.

[0090] Therefore, this patent proposes a step-by-step interpolation algorithm to reduce the real-time computing burden while achieving a relatively smooth force curve. The strategy is:

[0091] In the touch screen, a parabolic interpolation step is first performed to obtain dense data points by interpolating a small number of discrete points (force-displacement values) through parabolic interpolation; the data point here is the first data point information;

[0092] The parabolic interpolation algorithm is as follows, assuming that the position x is between x0 and x2:

[0093]

[0094] x0 represents the position point, and its corresponding force value is y0; similarly, the force value corresponding to the position point x1 is y1; the force value corresponding to the position point x2 is y2, all of which are user input; the interpolation of subsequent points is similar.

[0095] Transmit the dense data point information to the controller (i.e., processing device, the subsequent meaning is the same and will not be repeated);

[0096] The controller performs linear interpolation based on the current position feedback and the obtained dense point data, and sets the interpolated force value as the thrust limit value, thereby achieving real-time control of the force-displacement curve.

[0097] In the force-speed hybrid control mode, the control strategy is:

[0098] According to the force-velocity curve, a small number of discrete points are interpolated by parabola to obtain relatively dense second data point information; the second data point information here can refer to the explanation of the first data point information above, and will not be repeated here;

[0099] Linear interpolation is performed based on the current speed feedback and the obtained second dense point data, and the force value obtained by interpolation is set as the second thrust limit value, thereby achieving real-time control of the force-speed curve and rowing action simulation.

[0100] That is, during the entire movement, different reaction forces are applied according to the speed at which the athlete pulls the slider, and the force-speed curve can also be freely set, thus achieving more complex rowing action simulation;

[0101] The force-velocity hybrid control method is similar to the force-position hybrid control method, except that the horizontal axis becomes velocity, and the force output is related to the movement speed of the slider. The advantage of this control method is that it can better simulate the resistance effect of the paddle when sliding at different speed ranges.

[0102] The above scheme controls the motion of the rowing machine according to the monitoring data generated by the rowing machine during operation, sets different motion control modes, and sets the corresponding setting data in different modes, thereby realizing comprehensive control of position, speed, and force, and the force values ​​corresponding to the position and speed can be set. While improving the exercise experience, it can meet more complex exercise requirements compared to traditional rowing machines.

[0103] like Figure 5 As shown, an embodiment of the present invention further provides a control method for a rowing machine based on a linear motor, which is applied to the aforementioned rowing machine based on a linear motor, and the method includes:

[0104] S101, setting different motion control modes, setting corresponding setting data in different modes and checking monitoring data generated when the rowing machine is working; the monitoring data includes current position feedback and speed feedback;

[0105] S102, according to the set motion control mode, setting the corresponding setting data and monitoring data in different modes to implement different control strategies to achieve motion control of the rowing machine;

[0106] S103, generating a corresponding current instruction according to the control strategy;

[0107] S104 , based on the current instruction, controlling the coils of the linear motor to generate currents of different magnitudes to drive the linear motor.

[0108] Furthermore, feedback data from the position encoder on the linear motor is received, and the current thrust value and power are calculated in real time in combination with the encoder feedback and current data, so as to know the current movement state of the athlete.

[0109] When implemented, the motion control mode includes a constant force control mode, a force-displacement mixed control mode and a force-velocity mixed control mode;

[0110] The setting data associated with the constant force control mode is the constant force value;

[0111] The setting data associated with the force-displacement hybrid control mode is a freely set force-position curve;

[0112] The setting data associated with the force-speed hybrid control mode is a freely set force-speed curve;

[0113] The implementation of different control strategies specifically includes:

[0114] In the constant force control mode, a speed command is generated based on the deviation between the position command and the position feedback; wherein the position command is pre-set; a speed value generated corresponding to the speed command is outputted with a limited value, and a current command is generated based on the deviation from the speed feedback; a current value generated corresponding to the current command is outputted with a limited value, and the magnitude of the current applied to the DC motor coil is controlled based on the output value;

[0115] In the force-displacement hybrid control mode, a small number of discrete points are interpolated through parabolic interpolation according to the force-position curve to obtain relatively dense first data point information; linear interpolation is performed based on the current position feedback and the obtained first dense point data, and the interpolated force value is set as the first thrust limit value, thereby achieving real-time control of the force-displacement curve and simulating different rowing effects;

[0116] In the force-speed hybrid control mode, according to the force-speed curve, a small number of set discrete points are interpolated through parabolic interpolation to obtain relatively dense second data point information; linear interpolation is performed based on the current speed feedback and the obtained second dense point data, and the force value obtained by interpolation is set as the second thrust limit value, thereby realizing real-time control of the force-speed curve and simulation of the rowing action.

[0117] Through the above-mentioned control method, the linear motor is used as the resistance source of the rowing machine. According to the monitoring data generated by the rowing machine during operation, different motion control modes are set, and the corresponding setting data in different modes are set to control the motion of the rowing machine, thereby realizing comprehensive control of position, speed, and force. It can realize the exercise experience that rowing machines such as water resistance and magnetic resistance cannot provide, and can meet more complex exercise requirements compared to traditional rowing machines.

[0118] It should be noted that for more specific workflows of the method embodiments, please refer to the records in the aforementioned embodiments, which will not be repeated here.

[0119] Those skilled in the art will appreciate that the steps of each example described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, computer software, or a combination of the two. In order to clearly illustrate the interchangeability of hardware and software, the above description has generally described the composition and steps of each example according to function. Whether these functions are performed in hardware or software depends on the specific application and design constraints of the technical solution. Professional and technical personnel can use different methods to implement the described functions for each specific application, but such implementation should not be considered to be beyond the scope of the present invention.

[0120] The embodiments described above are merely illustrative, and there may be other division methods in actual implementation, for example, some features may be ignored or not executed.

[0121] The above description is only a specific embodiment of the present invention, but the scope of protection of the present invention is not limited thereto. Any technician familiar with this technical field can easily think of various equivalent modifications or replacements within the technical scope disclosed by the present invention, and these modifications or replacements should all be included in the scope of protection of the present invention.

Claims

1. A rowing machine based on a linear motor, characterized in that: include: A touch-sensitive interactive device for human-machine interaction. Through this device, the user can set different motion control modes, set corresponding setting data for different modes, and view monitoring data generated by the rowing machine during operation; the monitoring data includes current position feedback and speed feedback; Rowing machine main control module, used for: The overall motion control of the rowing machine is implemented by setting different control strategies based on the corresponding setting data and monitoring data in different modes according to the set motion control mode, thereby realizing the motion control of the rowing machine; generating a corresponding current instruction according to the control strategy; A drive control module, configured to control the coils of the linear motor based on the current command to generate currents of different magnitudes to drive the linear motor; The motion control modes include constant force control mode, force-displacement mixed control mode and force-speed mixed control mode; The setting data associated with the constant force control mode is the constant force value; The setting data associated with the force-displacement hybrid control mode is a freely set force-position curve; The setting data associated with the force-speed hybrid control mode is a freely set force-speed curve; In the constant force control mode, the control strategy is: generating a speed command based on a deviation between a position command and a position feedback; wherein the position command is preset; Limiting the output of the speed value generated corresponding to the speed command, and generating a current command according to the deviation between the speed command and the speed feedback; Limiting the output of the current value generated corresponding to the current command, and controlling the magnitude of the current applied to the DC motor coil based on the output value; In the force-displacement hybrid control mode, the control strategy is: According to the force-position curve, a small number of discrete points are interpolated by parabola to obtain relatively dense first data point information; Performing linear interpolation based on the current position feedback and the obtained first dense point data, setting the interpolated force value as the first thrust limit value, thereby achieving real-time control of the force-displacement curve and simulating different rowing effects; In the force-speed hybrid control mode, the control strategy is: According to the force-velocity curve, a small number of set discrete points are interpolated by parabola to obtain relatively dense second data point information; Linear interpolation is performed based on the current speed feedback and the obtained second dense point data, and the force value obtained by interpolation is set as the second thrust limit value, thereby achieving real-time control of the force-speed curve and rowing action simulation.

2. A rowing machine based on a linear motor according to claim 1, characterized in that: The drive control module is also used for: The feedback data of the position encoder on the linear motor is received, and the current thrust value and power are calculated in real time in combination with the encoder feedback and current data, so as to know the current motion state of the athlete.

3. A control method for a rowing machine based on a linear motor, characterized in that: Applied to the linear motor-based rowing machine of claim 1, the method comprises: Set different motion control modes, set corresponding setting data in different modes and view monitoring data generated when the rowing machine is working; the monitoring data includes current position feedback and speed feedback; According to the set motion control mode, different control strategies are implemented by setting the corresponding setting data and monitoring data in different modes to realize the motion control of the rowing machine; generating a corresponding current instruction according to the control strategy; Based on the current instruction, the coil of the linear motor is controlled to generate currents of different magnitudes to drive the linear motor.

4. The control method of a rowing machine based on a linear motor according to claim 3, characterized in that: The motion control modes include constant force control mode, force-displacement mixed control mode and force-speed mixed control mode; The setting data associated with the constant force control mode is the constant force value; The setting data associated with the force-displacement hybrid control mode is a freely set force-position curve; The setting data associated with the force-speed hybrid control mode is a freely set force-speed curve.

5. The control method of a rowing machine based on a linear motor according to claim 4, characterized in that: The implementation of different control strategies specifically includes: In the constant force control mode, a speed command is generated based on the deviation between the position command and the position feedback; wherein the position command is pre-set; a speed value generated corresponding to the speed command is outputted with a limited value, and a current command is generated based on the deviation from the speed feedback; a current value generated corresponding to the current command is outputted with a limited value, and the magnitude of the current applied to the DC motor coil is controlled based on the output value; In the force-displacement hybrid control mode, a small number of discrete points are interpolated through parabolic interpolation according to the force-position curve to obtain relatively dense first data point information; linear interpolation is performed based on the current position feedback and the obtained first dense point data, and the interpolated force value is set as the first thrust limit value, thereby achieving real-time control of the force-displacement curve and simulating different rowing effects; In the force-speed hybrid control mode, according to the force-speed curve, a small number of set discrete points are interpolated through parabolic interpolation to obtain relatively dense second data point information; linear interpolation is performed based on the current speed feedback and the obtained second dense point data, and the force value obtained by interpolation is set as the second thrust limit value, thereby realizing real-time control of the force-speed curve and simulation of the rowing action.

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